Machine data
2.4 Axis-specific machine data
Parameter Manual
220
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
Description:
Position controller gain, or servo gain factor.
The input/output unit for the user is [ (m/min)/mm].
I.e. MD32200 $MA_POSCTRL_GAIN[n] = 1 corresponds to a 1 mm following error at
V = 1m/min.
The following machine data have default settings for adapting the standard
selected input/output unit to the internal unit [rev/s].
• MD10230 $MN_SCALING_FACTORS_USER_DEF[9] = 16.666667S
• MD10220 $MN_SCALING_USER_DEF_MASK = 0x200; (bit no 9 as hex value).
If the value "0" is entered the position controller is opened.
When entering the servo gain factor it is important to take into account that
the gain factor of the whole position control loop is still dependent on
other parameters of the controlled system. A distinction should be made
between a "desired servo gain factor" (MD32200 $MA_POSCTRL_GAIN) and an
"actual servo gain factor" (produced by the machine). Only when all the
parameters of the control loop are matched will these servo gain factors be
the same.
Other factors are:
• Speed setpoint adjustment (MD32260 $MA_RATED_VELO, MD32250
$MA_RATED_OUTVAL)
or automatic speed setpoint interface adjustment (with MD32250
$MA_RATED_OUTVAL = 0 etc.)
• Correct actual value recording of the position encoder (no. of encoder
marks, high resolution, encoder mounting location, gear etc.)
• Correct actual speed recording on the drive (standardization, possibly
tacho compensation, tacho generator)
Note:
Axes which interpolate together and are to perform a machining operation,
must either have the same gain setting (i.e. have the identical following
error = 45° slope at the same velocity) or they must be matched via MD32910
$MA_DYN_MATCH_TIME.
The actual servo gain factor can be checked by means of the following error
(in the service display).
In the case of analog axes, a drift compensation must be performed prior to
the control.
The index [n] of the machine data has the following coding:
[control parameter set no.]: 0-5
32200 POSCTRL_GAIN A07, A11 G1,TE1,TE9,K3,S3,A2,A3,D1,
G2,S1,V1
1000/min Servo gain factor DOUBLE NEW CONF
CTEQ
- 6 16.66666667,
16.66666667,
16.66666667,
16.66666667,
16.66666667...
0 2000. 7/2
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